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<div class="header">
  <div class="summary">
<a href="#nested-classes">Classes</a> &#124;
<a href="#enum-members">Enumerations</a>  </div>
  <div class="headertitle">
<div class="title">Depth Sensing Module</div>  </div>
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<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsl_1_1RuntimeParameters.html">RuntimeParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runtime parameters used by the ZEDCamera.Grab() function, and its Camera::grab() counterpart in the SDK.  <a href="classsl_1_1RuntimeParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsl_1_1CameraParameters.html">CameraParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calibration information for an individual sensor on the ZED (left or right).  <a href="structsl_1_1CameraParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsl_1_1CalibrationParameters.html">CalibrationParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors.  <a href="structsl_1_1CalibrationParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:ga8d542017c9b012a19a15d46be9b7fa43"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43">DEPTH_MODE</a> </td></tr>
<tr class="memdesc:ga8d542017c9b012a19a15d46be9b7fa43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost.  <a href="group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43">More...</a><br /></td></tr>
<tr class="separator:ga8d542017c9b012a19a15d46be9b7fa43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga391147e2eab8e101a7ff3a06cbed22da"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__Depth__group.html#ga391147e2eab8e101a7ff3a06cbed22da">SENSING_MODE</a> </td></tr>
<tr class="memdesc:ga391147e2eab8e101a7ff3a06cbed22da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL).  <a href="group__Depth__group.html#ga391147e2eab8e101a7ff3a06cbed22da">More...</a><br /></td></tr>
<tr class="separator:ga391147e2eab8e101a7ff3a06cbed22da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga798a8eed10c573d759ef7e5a5bcd545d"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d">MEASURE</a> </td></tr>
<tr class="memdesc:ga798a8eed10c573d759ef7e5a5bcd545d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: <a href="https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d">https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d</a>  <a href="group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d">More...</a><br /></td></tr>
<tr class="separator:ga798a8eed10c573d759ef7e5a5bcd545d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<h2 class="groupheader">Enumeration Type Documentation</h2>
<a id="ga8d542017c9b012a19a15d46be9b7fa43"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga8d542017c9b012a19a15d46be9b7fa43">&#9670;&nbsp;</a></span>DEPTH_MODE</h2>

<div class="memitem">
<div class="memproto">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">enum <a class="el" href="group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43">DEPTH_MODE</a></td>
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<p>Lists available depth computation modes. Each mode offers better accuracy than the mode before it, but at a performance cost. </p>
<p>Mirrors DEPTH_MODE in the ZED C++ SDK. For more info, see: <a href="https://www.stereolabs.com/docs/api/group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43">https://www.stereolabs.com/docs/api/group__Depth__group.html#ga8d542017c9b012a19a15d46be9b7fa43</a> </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga8d542017c9b012a19a15d46be9b7fa43ab50339a10e1de285ac99d4c3990b8693"></a>NONE&#160;</td><td class="fielddoc"><p>Does not compute any depth map. Only rectified stereo images will be available. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga8d542017c9b012a19a15d46be9b7fa43a063360736adfccfae2f1d8093c02959a"></a>PERFORMANCE&#160;</td><td class="fielddoc"><p>Fastest mode for depth computation. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga8d542017c9b012a19a15d46be9b7fa43aac7ac10cbeba800c78f4de2922bd1e1b"></a>QUALITY&#160;</td><td class="fielddoc"><p>Balanced quality mode. Depth map is robust in most environment and requires medium compute power. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga8d542017c9b012a19a15d46be9b7fa43af8b6b495ae37b7f4baa34a5c54bd2f6c"></a>ULTRA&#160;</td><td class="fielddoc"><p>Native depth. Very accurate, but at a large performance cost. </p>
</td></tr>
</table>

</div>
</div>
<a id="ga391147e2eab8e101a7ff3a06cbed22da"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga391147e2eab8e101a7ff3a06cbed22da">&#9670;&nbsp;</a></span>SENSING_MODE</h2>

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          <td class="memname">enum <a class="el" href="group__Depth__group.html#ga391147e2eab8e101a7ff3a06cbed22da">SENSING_MODE</a></td>
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<p>Lists available sensing modes - whether to produce the original depth map (STANDARD) or one with smoothing and other effects added to fill gaps and roughness (FILL). </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga391147e2eab8e101a7ff3a06cbed22daa94e94133f4bdc1794c6b647b8ea134d0"></a>STANDARD&#160;</td><td class="fielddoc"><p>This mode outputs the standard ZED depth map that preserves edges and depth accuracy. However, there will be missing data where a depth measurement couldn't be taken, such as from a surface being occluded from one sensor but not the other. Better for: Obstacle detection, autonomous navigation, people detection, 3D reconstruction. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga391147e2eab8e101a7ff3a06cbed22daae8225b11842409df543692aebed34fd1"></a>FILL&#160;</td><td class="fielddoc"><p>This mode outputs a smooth and fully dense depth map. It doesn't have gaps in the data like STANDARD where depth can't be calculated directly, but the values it fills them with is less accurate than a real measurement. Better for: AR/VR, mixed-reality capture, image post-processing. </p>
</td></tr>
</table>

</div>
</div>
<a id="ga798a8eed10c573d759ef7e5a5bcd545d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ga798a8eed10c573d759ef7e5a5bcd545d">&#9670;&nbsp;</a></span>MEASURE</h2>

<div class="memitem">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">enum <a class="el" href="group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d">MEASURE</a></td>
        </tr>
      </table>
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<p>Lists available measure types retrieved from the camera, used for creating precise measurement maps (Measure-type textures). Based on the MEASURE enum in the ZED C++ SDK. For more info, see: <a href="https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d">https://www.stereolabs.com/docs/api/group__Depth__group.html#ga798a8eed10c573d759ef7e5a5bcd545d</a> </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da8814a16ee6fd71ab0305a1c425b45a4d"></a>DISPARITY&#160;</td><td class="fielddoc"><p>Disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545daaa1780b4fcce2d5d9af13dc25386d111"></a>DEPTH&#160;</td><td class="fielddoc"><p>Depth map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da87f1ba15677264359d67e2a5b34a4b68"></a>CONFIDENCE&#160;</td><td class="fielddoc"><p>Certainty/confidence of the disparity map. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545dae65075d550f9b5bf9992fa1d71a131be"></a>XYZ&#160;</td><td class="fielddoc"><p>3D coordinates of the image points. Used for point clouds in ZEDPointCloudManager. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel may contain the colors. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da5e5100211fadd1af0b7681b43ba5b11b"></a>XYZRGBA&#160;</td><td class="fielddoc"><p>3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for colors in R-G-B-A order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545dafc911e78b5caee76618a69046432515f"></a>XYZBGRA&#160;</td><td class="fielddoc"><p>3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for colors in B-G-R-A order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da8f4eb99a063250cd14b1497b0c717ab4"></a>XYZARGB&#160;</td><td class="fielddoc"><p>3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encodes 4 UCHARs for color in A-R-G-B order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545dad739bb1addd0a2353537fa1e3a533b1a"></a>XYZABGR&#160;</td><td class="fielddoc"><p>3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains color in A-B-G-R order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545daa50eb8a5845601666a9dd4504ebef51a"></a>NORMALS&#160;</td><td class="fielddoc"><p>3D coordinates and color of the image. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. The 4th channel encode 4 UCHARs for color in A-B-G-R order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da4584134951f0109d5b9094d325f0d2f3"></a>DISPARITY_RIGHT&#160;</td><td class="fielddoc"><p>Disparity map for the right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da7492731e9d2fcf4a51d5927ed146a05c"></a>DEPTH_RIGHT&#160;</td><td class="fielddoc"><p>Depth map for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C1. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da355ec8321f3d478aefd1a5ccbc24bd6d"></a>XYZ_RIGHT&#160;</td><td class="fielddoc"><p>Point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545dace4a56f45a655cc3b6012091f8012f61"></a>XYZRGBA_RIGHT&#160;</td><td class="fielddoc"><p>Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in R-G-B-A order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da6ed304d8a2244833fcc9bbc198005fb5"></a>XYZBGRA_RIGHT&#160;</td><td class="fielddoc"><p>Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in B-G-R-A order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da2a2aa2371ef6df147618a33ed76b999c"></a>XYZARGB_RIGHT&#160;</td><td class="fielddoc"><p>Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-R-G-B order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545dae3d308908f1b5d8049ab52593736b55b"></a>XYZABGR_RIGHT&#160;</td><td class="fielddoc"><p>Colored point cloud for right sensor. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 contains colors in A-B-G-R order. </p>
</td></tr>
<tr><td class="fieldname"><a id="gga798a8eed10c573d759ef7e5a5bcd545da8a3369e8bc6878b1679db4b6a1b41b38"></a>NORMALS_RIGHT&#160;</td><td class="fielddoc"><p>Normals vector for right view. As a ZEDMat, MAT_TYPE is set to MAT_32F_C4. Channel 4 is empty (set to 0). </p>
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</table>

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